That-One-Nerd/ary-over-under
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fix some stuff

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ary 2023-10-10 21:56:16 -04:00
parent 6ea107bf4e
commit 63cc52ef1e
3 changed files with 9 additions and 9 deletions
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2
RELENTLESS/include/ary-lib/PID.hpp
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@ -98,7 +98,7 @@ class PID {
* \param current * \param current
* Current sensor library. * Current sensor library.
*/ */
double compute(double current); double calculate(double current);
/** /**
* Returns target value. * Returns target value.

6
RELENTLESS/src/ary-lib/PID.cpp
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@ -48,7 +48,7 @@ void PID::set_exit_condition(int p_small_exit_time, double p_small_error, int p_
void PID::set_target(double input) { target = input; } void PID::set_target(double input) { target = input; }
double PID::get_target() { return target; } double PID::get_target() { return target; }
double PID::compute(double dist) { double PID::calculate(double dist) {
error = target - dist; // Calculate the error error = target - dist; // Calculate the error
derivative = error - lastError; // Calculate the derivative term derivative = error - lastError; // Calculate the derivative term
@ -63,9 +63,9 @@ double PID::compute(double dist) {
integral = 0; integral = 0;
} }
output = (error * constants.kp) + (integral * constants.ki) + (derivative * constants.kd); output = (error * constants.kp) + (integral * constants.ki) + (derivative * constants.kd); // Combine all of the terms to get an output speed
lastError = error; lastError = error; // Set the last error to the previously calculated error.
return output; return output;
} }

10
RELENTLESS/src/ary-lib/drive/pid_tasks.cpp
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@ -31,9 +31,9 @@ void Drive::ez_auto_task() {
// Drive PID task // Drive PID task
void Drive::drive_pid_task() { void Drive::drive_pid_task() {
// Compute PID // Compute PID
leftPID.compute(left_sensor()); leftPID.calculate(left_sensor());
rightPID.compute(right_sensor()); rightPID.calculate(right_sensor());
headingPID.compute(get_gyro()); headingPID.calculate(get_gyro());
// Compute slew // Compute slew
double l_slew_out = slew_calculate(left_slew, left_sensor()); double l_slew_out = slew_calculate(left_slew, left_sensor());
@ -58,7 +58,7 @@ void Drive::drive_pid_task() {
// Turn PID task // Turn PID task
void Drive::turn_pid_task() { void Drive::turn_pid_task() {
// Compute PID // Compute PID
turnPID.compute(get_gyro()); turnPID.calculate(get_gyro());
// Clip gyroPID to max speed // Clip gyroPID to max speed
double gyro_out = util::clip_num(turnPID.output, max_speed, -max_speed); double gyro_out = util::clip_num(turnPID.output, max_speed, -max_speed);
@ -77,7 +77,7 @@ void Drive::turn_pid_task() {
// Swing PID task // Swing PID task
void Drive::swing_pid_task() { void Drive::swing_pid_task() {
// Compute PID // Compute PID
swingPID.compute(get_gyro()); swingPID.calculate(get_gyro());
// Clip swingPID to max speed // Clip swingPID to max speed
double swing_out = util::clip_num(swingPID.output, max_speed, -max_speed); double swing_out = util::clip_num(swingPID.output, max_speed, -max_speed);